Linux OpenSSH ProxyCommand example: Going through one host to reach another server

How do I use and jump through one server to reach another using ssh on a Linux or Unix-like systems? Is it possible to connect to another host via an intermediary so that the client can act as if the connection were direct using ssh? You can jump host using ProxyCommand. Some times you can only access a remote server via ssh by first login into an intermediary server (or firewall/jump host).